cleaner dockerfile for building hardware

husarion · Dec 4, 2023 · e36b578 · e36b578
1 parent 4cc21cc
commit e36b578
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diff --git a/Dockerfile b/Dockerfile
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
@@ -3,7 +3,7 @@ ARG PREFIX=
 ARG ROSBOT_FW_RELEASE=0.8.0
 ## ============================ STM32FLASH =================================
 # stm32flash needs an older version of glibc (2.28), which is why ubuntu 18.04 was used
-FROM ubuntu:18.04 AS stm32flash_builder_and_downloader
+FROM ubuntu:18.04 AS stm32flash_builder
 
 ARG ROS_DISTRO
 ARG ROSBOT_FW_RELEASE
@@ -26,8 +26,6 @@ RUN echo ros_distro=$ROS_DISTRO firmware_release=$ROSBOT_FW_RELEASE
 RUN curl -L https://github.com/husarion/rosbot_ros2_firmware/releases/download/$ROSBOT_FW_RELEASE/firmware.bin -o /firmware.bin && \
     curl -L https://github.com/husarion/rosbot_ros2_firmware/releases/download/$ROSBOT_FW_RELEASE/firmware.hex -o /firmware.hex
 
-RUN git clone https://github.com/husarion/rosbot_ros.git /ros2_ws/src -b ros2-combined-microros
-
 ## =========================== Firmware CPU ID ================================
 
 FROM ubuntu:20.04 AS cpu_id_builder
@@ -50,51 +48,39 @@ RUN pip3 install -U platformio && \
     pio run && \
     chmod -x .pio/build/olimex_e407/firmware.bin
 
-## =========================== Micro ROS agent ===============================
-
-FROM husarion/micro-ros-agent:humble-3.1.3-20231122 AS microros_agent_getter
 
-## =========================== ROS image ===============================
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
+## =========================== ROS builder ===============================
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS ros_builder
 
 ARG ROS_DISTRO
 ARG PREFIX
 
 SHELL ["/bin/bash", "-c"]
 
-RUN mkdir -p /ros2_ws/src && cd /ros2_ws/src
 WORKDIR /ros2_ws
+RUN mkdir src
 
-# copy firmware built in previous stage and downloaded repository
-COPY --from=stm32flash_builder_and_downloader /firmware.bin /root/firmware.bin
-COPY --from=stm32flash_builder_and_downloader /firmware.hex /root/firmware.hex
-COPY --from=stm32flash_builder_and_downloader /stm32flash/stm32flash /usr/bin/stm32flash
-COPY --from=stm32flash_builder_and_downloader /ros2_ws /ros2_ws
-COPY --from=cpu_id_builder /read_cpu_id/.pio/build/olimex_e407/firmware.bin /firmware_read_cpu_id.bin
 COPY ./healthcheck.cpp /
 
 RUN apt-get update && apt-get install -y \
 		git \
 		python3-pip \
-        python3-colcon-common-extensions \
-        python3-rosdep \
-        python3-vcstool \
 		python3-sh \
-		python3-periphery \
-		build-essential \
-		ros-$ROS_DISTRO-teleop-twist-keyboard && \
+		python3-periphery && \
 	pip3 install pyserial && \
-	MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
+    git clone https://github.com/husarion/rosbot_ros.git src -b ros2-combined-microros && \
 	vcs import src < src/rosbot/rosbot_hardware.repos && \
 	# it is necessary to remove simulation - otherwise rosdep tries to install dependencies
     rm -r src/rosbot_gazebo && \
     # without this line (using vulcanexus base image) rosdep init throws error: "ERROR: default sources list file already exists:"
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
 	rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
-	# Create health check package
-    cd src/ && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
+
+	# Create health check package and build
+RUN cd src/ && \
+	MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
 	source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
     ros2 pkg create healthcheck_pkg --build-type ament_cmake --dependencies rclcpp nav_msgs && \
     sed -i '/find_package(nav_msgs REQUIRED)/a \
@@ -105,40 +91,61 @@ RUN apt-get update && apt-get install -y \
     mv /healthcheck.cpp /ros2_ws/src/healthcheck_pkg/src/ && \
     cd .. && \
     # Build
-	colcon build && \
-	# clear ubuntu packages
+	colcon build --packages-skip \
+        ackermann_steering_controller \
+        bicycle_steering_controller \
+        tricycle_steering_controller \
+        ros2_controllers \
+        effort_controllers \
+        admittance_controller \
+        force_torque_sensor_broadcaster \
+        forward_command_controller \
+        gripper_controllers \
+        joint_trajectory_controller \
+        position_controllers \
+        rqt_joint_trajectory_controller \
+        tricycle_controller \
+        velocity_controllers  \
+        ros2_controllers_test_nodes
+
+## =========================== Final Stage ===============================
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core 
+
+ARG ROS_DISTRO
+ARG PREFIX
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2_ws
+
+COPY --from=ros_builder /ros2_ws /ros2_ws
+
+RUN apt-get update && apt-get install -y \
+        python3-rosdep \
+        ros-$ROS_DISTRO-teleop-twist-keyboard && \
+    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
+	rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
 	apt-get clean && \
-	apt-get remove -y \
-		git \
-		python3-colcon-common-extensions \
-		python3-rosdep \
-		python3-vcstool \
-		python3-pip \
-		build-essential && \
 	rm -rf /var/lib/apt/lists/*
 
+# copy firmware built in previous stage and downloaded repository
+COPY --from=stm32flash_builder /firmware.bin /root/firmware.bin
+COPY --from=stm32flash_builder /firmware.hex /root/firmware.hex
+COPY --from=stm32flash_builder /stm32flash/stm32flash /usr/bin/stm32flash
+
+COPY --from=cpu_id_builder /read_cpu_id/.pio/build/olimex_e407/firmware.bin /firmware_read_cpu_id.bin
+
 RUN echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt
 
 COPY ros_entrypoint.sh /
 COPY vulcanexus_entrypoint.sh /
+COPY healthcheck.sh /
 
-RUN if [[ ${PREFIX} == 'vulcanexus-' ]]; then \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg healthcheck_node &' \
-        /vulcanexus_entrypoint.sh; \
-    else \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg healthcheck_node &' \
-        /ros_entrypoint.sh; \
-    fi
-
-COPY ./healthcheck.sh /
 HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
     CMD ["/healthcheck.sh"]
 
-# copy micro-ros agent
-
-COPY --from=microros_agent_getter /ros2_ws /ros2_ws_microros_agent
 COPY microros_localhost_only.xml /
 
 # copy scripts